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Merge pull request #3331 from erwincoumans/master

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add performCollisionDetection (stepSimulation also calls this, but do…
This commit is contained in:
erwincoumans
2021-04-05 12:54:39 -07:00
committed by GitHub
parent 93be7e6440 8b8c1af6a4
commit 2c3318f86d
183 changed files with 28071 additions and 44 deletions
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6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -382,6 +382,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData);
@@ -482,7 +484,9 @@ extern "C"
B3_SHARED_API int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle commandHandle, int qIndex, const double* position, int dofCount);
B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount);
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount);
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity);
///Only use when controlMode is CONTROL_MODE_VELOCITY
@@ -492,6 +496,8 @@ extern "C"
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);
B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount);
///Only use if when controlMode is CONTROL_MODE_TORQUE,
B3_SHARED_API int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);